Mobile robot control method and device, storage medium and mobile robot

Abstract

The invention provides a control method and device of a mobile robot, a storage medium and the mobile robot, and relates to the technical field of mobile robots. The control method of the mobile robot comprises the steps that under the condition that the mobile robot loses positioning information, a target identification code is scanned, and the target identification code is located at a first position; determining first position information of the first position according to the target identification code; and controlling the mobile robot to run according to the first position information. In the deployment stage, only the target identification code needs to be deployed at the specified first position, the deployment cost and the maintenance cost are low, and the first position information obtained by the mobile robot through a code scanning and decoding mode is the pre-stored accurate position information, so that the positioning information recovered by the mobile robot is more accurate, and the user experience is improved. The technical problems of low positioning precision and high deployment cost in the prior art are solved.

Description

Control methods, devices, storage media, and mobile robots for mobile robots Technical Field

[0001] This application relates to the field of mobile robot technology, and more specifically, to a control method, device, storage medium, and mobile robot for a mobile robot. Background Technology

[0002] The need for precise positioning of mobile robots across floors is extremely important in both service and industrial sectors, such as pharmaceutical logistics and industrial warehousing. However, during the process of moving between floors, mobile robots may lose their current floor awareness, resulting in a loss of positioning information.

[0003] In related technologies, mobile robots determine their current location information by identifying the wireless hotspot they are currently connected to and based on the hotspot's address. However, this approach suffers from low positioning accuracy and high deployment costs. Summary of the Invention

[0004] This application aims to solve the technical problems of low positioning accuracy and high deployment cost in existing or related technologies.

[0005] Therefore, the first aspect of this application proposes a control method for a mobile robot.

[0006] The second aspect of this application proposes a control device for a mobile robot.

[0007] A third aspect of this application proposes a control device for a mobile robot.

[0008] The fourth aspect of this application proposes a readable storage medium.

[0009] The fifth aspect of this application proposes a mobile robot.

[0010] In view of this, a control method for a mobile robot is proposed according to the first aspect of this application, comprising: scanning a target identification code when the mobile robot is in a state of lost positioning information, wherein the target identification code is located at a first position; determining first position information of the first position based on the target identification code; and controlling the mobile robot to move based on the first position information.

[0011] In this technical solution, mobile robots include pharmaceutical logistics robots, industrial warehousing robots, etc. These mobile robots can perform driving tasks across floors. However, when performing these tasks, they may lose their location information. In such cases, the mobile robot needs to promptly determine its current location to replan its path and complete the task.

[0012] In this technical solution, a target identification code that the mobile robot can recognize is deployed within the space where the mobile robot performs its tasks. The first position is the location where the target identification code is deployed within the space where the robot performs its tasks. When the mobile robot loses its positioning information, it can move to the first position and scan the target identification code at the first position. The target identification code stores the first position information. Since the mobile robot is at the first position during the scanning process, the first position information stored in the target identification code is used as the current positioning information of the mobile robot.

[0013] It should be noted that there can be multiple target identification codes, and these multiple target identification codes are set at different first positions in the space where the task is executed. Each target identification code stores the corresponding first position information.

[0014] In this technical solution, after the mobile robot obtains the first location information, the first location information is used as the current location information of the mobile robot, and the mobile robot is controlled to continue to perform the movement task, that is, to control the mobile robot to move.

[0015] Specifically, after the mobile robot extracts the first location information, it transmits the first location information to the internal positioning module. After receiving the first location information, the positioning module uses the first location information as the current positioning information and resets the positioning of the mobile robot. At this time, the mobile robot completes the positioning recovery and can be controlled to complete the movement task according to the first location information.

[0016] In this application's technical solution, after a mobile robot loses its positioning information during operation, it can move to a first location to scan a code to obtain the first location information and continue its movement task based on this information. During deployment, only the target identification code needs to be deployed at the designated first location, resulting in low deployment and maintenance costs. Furthermore, the first location information obtained by the mobile robot through code scanning and decoding is pre-stored accurate location information, making the recovered positioning information more accurate. This solves the technical problems of low positioning accuracy and high deployment costs in related technologies.

[0017] In some technical solutions, optionally, determining the first position information of the first position based on the target identification code includes: decoding the target identification code; if decoding is successful, determining the decoded information as the first position information; if decoding fails, returning to the step of decoding the target identification code.

[0018] In this technical solution, after the mobile robot scans the target identification code, it records the target identification code and decodes the target identification code through its internal processor to obtain decoded information. If the decoding is successful, the decoded information is used as the first position information corresponding to the target identification code. If the decoding fails, the process returns to the decoding step.

[0019] Specifically, after moving to the initial location of the target identification code, the mobile robot performs scanning and decoding in place. Upon successful decoding, the mobile robot acquires the corresponding initial location information and can continue moving based on this information. If decoding fails, the mobile robot remains stationary and returns to attempt to decode the target identification code again. If the mobile robot fails to complete decoding within a prolonged period, it is determined that the target identification code may be damaged, requiring manual intervention. Because the mobile robot remains stationary when decoding fails, it avoids affecting the movement of other mobile robots or personnel.

[0020] In the technical solution of this application, after the mobile robot completes scanning the target identification code, it decodes the target identification code. If the decoding is successful, the decoded information is determined as the first location information. If the decoding fails, the robot continues to decode in place to avoid the mobile robot moving and interfering with other equipment or personnel when it loses its location information.

[0021] In some technical solutions, optionally, controlling the movement of a mobile robot based on the first location information includes: acquiring second location information, the second location information being the location information along the path of the movement task performed by the mobile robot; planning a first driving trajectory based on the second location information and the first location information; and controlling the movement of the mobile robot according to the first driving trajectory.

[0022] In this technical solution, the movement task is the task performed by the mobile robot before losing its positioning information, and the second position information is the position information traversed during the movement task. After the mobile robot decodes and obtains the first position information, since the mobile robot is already at the first position, the first position information can be used as the current positioning information of the mobile robot to plan a first driving trajectory. The starting point of this first driving trajectory is the current positioning information, and the second position information that the movement task needs to traverse is used as the position information traversed by the first driving trajectory. Thus, the first driving trajectory can be planned based on the first and second position information. After the first driving trajectory is planned, the mobile robot is controlled to move according to the first driving trajectory.

[0023] It should be noted that there can be multiple second location information points; that is, when the mobile robot performs a movement task, it may need to pass through multiple second location information points. After acquiring multiple second location information points, a first driving trajectory is planned based on the first and second location information points, enabling the mobile robot to quickly resume the movement task before the loss of location information.

[0024] In the technical solution of this application, after the mobile robot decodes and obtains the first location information, it acquires the second location information traversed by the mobile task, plans the first driving trajectory corresponding to the mobile task based on the first location information and the second location information, and controls the mobile robot to move according to the first driving trajectory, thereby quickly resuming the execution of the mobile task.

[0025] In some technical solutions, optionally, when the mobile robot loses its location information, scanning the target identification code includes: when the mobile robot loses its location information, controlling the mobile robot to move to a first position; and when the mobile robot moves to the first position, scanning the target identification code.

[0026] In this technical solution, since the mobile robot may be some distance from the target identification code when it loses its location information, it is necessary to first control the mobile robot to move to the initial position of the target identification code before scanning it. After the mobile robot moves to the initial position, it is controlled to scan the target identification code.

[0027] In the technical solution of this application, after the mobile robot loses its positioning information, the mobile robot is controlled to move to the first position where the target identification code is located. When the mobile robot reaches the first position, the mobile robot is controlled to scan the target identification code at the first position, thereby improving the scanning accuracy of the mobile robot.

[0028] Optionally, in some technical solutions, the mobile robot includes an image acquisition device. When the mobile robot loses its positioning information, controlling the mobile robot to travel to a first position includes: controlling the mobile robot to acquire environmental images through the image acquisition device; planning a second travel trajectory based on target image features in the environmental images, wherein the endpoint of the second travel trajectory is the first position; and controlling the mobile robot to travel to the first position according to the second travel trajectory. The target image features include at least one of the following: image identifiers, text identifiers, and environmental objects.

[0029] In this technical solution, the mobile robot includes an image acquisition device, which provides the mobile robot with visual navigation capabilities, enabling the mobile robot to move to the first location where the target identification code is located through visual navigation.

[0030] In this technical solution, the mobile robot's image acquisition device continuously acquires environmental images of the environment in which the mobile robot is located, extracts target image features from the environmental images through image recognition algorithms, and provides navigation functions for the mobile robot to move to a first position based on the extracted target image features.

[0031] It should be noted that the target image features may include one of the following: image labels or text labels pre-deployed in the mobile robot's movement space, or environmental objects placed in the robot's movement space.

[0032] In this technical solution, an image acquisition device is installed in the mobile robot. When the mobile robot loses its positioning information, the image acquisition device in the mobile robot is controlled to acquire environmental images. By recognizing the target image features in the environmental images, the mobile robot is guided to the target identification code. This enables the mobile robot to automatically move to the first position of the target identification code through visual navigation capabilities when the positioning information is lost, thereby improving the efficiency and convenience of the mobile robot to resume its movement tasks.

[0033] In some technical solutions, optionally, when the mobile robot loses its location information, controlling the mobile robot to move to a first position includes:

[0034] Upon receiving navigation control information, the system responds by controlling the mobile robot to move to the first position.

[0035] In this technical solution, when the mobile robot loses its positioning information, it can receive externally transmitted navigation control information and navigate to the first position based on the navigation control information.

[0036] In the technical solution of this application, when the mobile robot loses its location information, the mobile robot can receive navigation control information and navigate to the first position where the target identification code is located based on the navigation control information, which further improves the accuracy of the mobile robot navigating to the position where the target identification code is located.

[0037] Optionally, in some technical solutions, before controlling the mobile robot to move to the first position in response to receiving navigation control information, the following steps are also included:

[0038] An alarm message is sent to the base station, so that the base station responds to the alarm message and sends navigation control information back to the mobile robot.

[0039] In the technical solution of this application, when the mobile robot loses its location information, the mobile robot transmits alarm information to the base station to indicate to the base station that the mobile robot is currently in a fault state of losing its location information. This enables the base station staff to transmit navigation control information to the mobile robot through communication between the base station and the mobile robot, allowing the base station staff to be aware of the mobile robot's lost location information status in a timely manner and avoid congestion caused by the mobile robot being in a state of lost location information for a long time.

[0040] In some technical solutions, the target identification code may optionally include at least one of the following: a QR code or a one-dimensional barcode.

[0041] In the technical solution of this application, by storing the first location information in a QR code and / or a barcode, it is convenient for a mobile robot to obtain the first location information by scanning the code. Moreover, the method of storing the first location information in a QR code and / or a barcode is relatively convenient, which further reduces the deployment cost and improves the deployment convenience.

[0042] According to a second aspect of this application, a control device for a mobile robot is provided, comprising: a scanning module for scanning a target identification code when the mobile robot loses its positioning information, wherein the target identification code is located at a first position; a determining module for determining first position information of the first position based on the target identification code; and a control module for controlling the mobile robot to move based on the first position information.

[0043] In this application's technical solution, after a mobile robot loses its positioning information during operation, it can move to a first location to scan a code to obtain the first location information and continue its movement task based on this information. During deployment, only the target identification code needs to be deployed at the designated first location, resulting in low deployment and maintenance costs. Furthermore, the first location information obtained by the mobile robot through code scanning and decoding is pre-stored accurate location information, making the recovered positioning information more accurate. This solves the technical problems of low positioning accuracy and high deployment costs in related technologies.

[0044] According to a third aspect of this application, a control device for a mobile robot is provided. The control device includes a processor and a memory, the memory storing a program or instructions. When executed by the processor, the program or instructions implement the steps of the mobile robot control method as described in any of the above-described technical solutions. Therefore, this mobile robot control device possesses all the beneficial effects of the mobile robot control method described in any of the above-described technical solutions, which will not be elaborated further here.

[0045] According to the fourth aspect of this application, a readable storage medium is provided on which a program or instructions are stored. When the program or instructions are executed by a processor, they implement the steps of the control method for a mobile robot as described in any of the above technical solutions, and thus have all the beneficial technical effects of the control method for a mobile robot as described in any of the above technical solutions.

[0046] According to the fifth aspect of this application, a mobile robot is proposed, comprising: a control device for the mobile robot as described in any of the above technical solutions, and / or a readable storage medium as described in any of the above technical solutions, thus having all the beneficial technical effects of the control device for the mobile robot as described in any of the above technical solutions, and / or the readable storage medium as described in any of the above technical solutions, which will not be elaborated further here.

[0047] Additional aspects and advantages of this application will become apparent in the following description or may be learned by practice of this application. Attached Figure Description

[0048] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0049] Figure 1 shows one of the flowcharts of a mobile robot control method provided in some embodiments of this application;

[0050] Figure 2 shows a schematic diagram of the structure of a mobile robot provided in some embodiments of this application;

[0051] Figure 3 shows a second schematic flowchart of a mobile robot control method provided in some embodiments of this application;

[0052] Figure 4 shows one of the structural block diagrams of a control device for a mobile robot provided in some embodiments of this application;

[0053] Figure 5 shows a second structural block diagram of a control device for a mobile robot provided in some embodiments of this application;

[0054] Figure 6 shows a structural block diagram of a mobile robot provided in some embodiments of this application.

[0055] The attached figures are labeled as follows:

[0056] 200 Mobile robot, 202 Body, 204 Image acquisition device, 206 Walking mechanism. Detailed Implementation

[0057] To better understand the above-mentioned objectives, features, and advantages of this application, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, these embodiments and the features described herein can be combined with each other.

[0058] Many specific details are set forth in the following description in order to provide a full understanding of this application. However, this application may also be implemented in other ways different from those described herein. Therefore, the scope of protection of this application is not limited to the specific embodiments disclosed below.

[0059] The following describes, with reference to Figures 1 to 6, a control method for a mobile robot, a control device for a mobile robot, a readable storage medium, and a mobile robot according to some embodiments of the present application.

[0060] According to one embodiment of this application, FIG1 shows a flowchart of one of the embodiments of this application of a control method for a mobile robot. As shown in FIG1, a control method for a mobile robot is proposed, including:

[0061] Step 102: When the mobile robot loses its location information, scan the target identification code, wherein the target identification code is located in the first position;

[0062] In this embodiment, the mobile robot includes pharmaceutical logistics robots, industrial warehousing robots, etc. The mobile robot can perform driving tasks across floors. However, when performing these tasks, the mobile robot may lose its location information. If this happens, the mobile robot needs to promptly determine its current location to replan its path and complete the task.

[0063] For example, when a mobile robot moves between floors via an elevator, if the elevator is occupied by someone in an emergency, or if the mobile robot is pushed from the elevator to a non-working floor, the mobile robot will be unable to perceive its current floor, resulting in the loss of its location information.

[0064] Step 104: Determine the first location information of the first location based on the target identification code;

[0065] In this embodiment, a target identification code that the mobile robot can recognize is deployed within the space where the mobile robot performs its tasks. The first location is the position where the target identification code is deployed within the space where the robot performs its tasks. When the mobile robot loses its positioning information, it can move to the first location and scan the target identification code at the first location. The target identification code stores the first location information of the first location. Since the mobile robot is at the first location during the scanning process, the first location information stored in the target identification code is used as the current positioning information of the mobile robot.

[0066] It should be noted that there can be multiple target identification codes, and these multiple target identification codes are set at different first positions in the space where the task is executed. Each target identification code stores the corresponding first position information.

[0067] For example, a target identification code is set at the elevator lobby location on each floor, and each target identification code stores the first location information of the corresponding elevator lobby. When the mobile robot loses its location information, the mobile robot moves to the elevator lobby to scan the code, and uses the first location information obtained from the scan as its current location information. Specifically, for example, if the mobile robot loses its location information on the 7th floor, scanning the target identification code can determine that the mobile robot is currently in the elevator lobby on the 7th floor.

[0068] Step 106: Control the mobile robot to move according to the first position information.

[0069] In this embodiment, after the mobile robot obtains the first location information, the first location information is used as the current location information of the mobile robot, and the mobile robot is controlled to continue to perform the movement task, that is, to control the mobile robot to move.

[0070] Specifically, after the mobile robot extracts the first location information, it transmits the first location information to the internal positioning module. After receiving the first location information, the positioning module uses the first location information as the current positioning information and resets the positioning of the mobile robot. At this time, the mobile robot completes the positioning recovery and can be controlled to complete the movement task according to the first location information.

[0071] In this embodiment, after a mobile robot loses its positioning information during operation, it can move to a first location to scan a code to obtain the first location information and continue its movement based on that information. During deployment, only the target identification code needs to be deployed at the designated first location, resulting in low deployment and maintenance costs. Furthermore, the first location information obtained by the mobile robot through code scanning and decoding is pre-stored accurate location information, making the recovered positioning information more accurate. This solves the technical problems of low positioning accuracy and high deployment costs in related technologies.

[0072] In some embodiments, optionally, determining the first position information of the first position based on the target identification code includes: decoding the target identification code; if decoding is successful, determining the decoded information as the first position information; if decoding fails, returning to the step of decoding the target identification code.

[0073] In this embodiment, after the mobile robot scans the target identification code, it records the target identification code and decodes the target identification code through its internal processor to obtain decoded information. If the decoding is successful, the decoded information is used as the first position information corresponding to the target identification code. If the decoding fails, the robot returns to the decoding step.

[0074] Specifically, after moving to the initial location of the target identification code, the mobile robot performs scanning and decoding in place. Upon successful decoding, the mobile robot acquires the corresponding initial location information and can continue moving based on this information. If decoding fails, the mobile robot remains stationary and returns to attempt to decode the target identification code again. If the mobile robot fails to complete decoding within a prolonged period, it is determined that the target identification code may be damaged, requiring manual intervention. Because the mobile robot remains stationary when decoding fails, it avoids affecting the movement of other mobile robots or personnel.

[0075] For example, if the number of decoding failures reaches a preset number, an alarm message indicating decoding failure is sent to prompt staff to intervene in a timely manner.

[0076] In this embodiment, after the mobile robot completes scanning the target identification code, it decodes the target identification code. If the decoding is successful, the decoded information is determined as the first location information. If the decoding fails, the robot continues to decode in place to avoid the mobile robot moving and interfering with other devices or personnel when it loses its location information.

[0077] In some embodiments, optionally, controlling the movement of a mobile robot based on first location information includes: acquiring second location information, the second location information being the location information along the path of the movement task performed by the mobile robot; planning a first driving trajectory based on the second location information and the first location information; and controlling the movement of the mobile robot according to the first driving trajectory.

[0078] In this embodiment, the movement task is the task performed by the mobile robot before losing its location information, and the second location information is the location information traversed during the movement task. After the mobile robot decodes and obtains the first location information, since the mobile robot is already at the first location, the first location information can be used as the mobile robot's current location information to plan a first driving trajectory. The starting point of this first driving trajectory is the current location information, and the second location information that the movement task needs to traverse is used as the location information traversed by the first driving trajectory. Thus, the first driving trajectory can be planned based on the first and second location information. After the first driving trajectory is planned, the mobile robot is controlled to move according to the first driving trajectory.

[0079] It should be noted that there can be multiple second location information points; that is, when the mobile robot performs a movement task, it may need to pass through multiple second location information points. After acquiring multiple second location information points, a first driving trajectory is planned based on the first and second location information points, enabling the mobile robot to quickly resume the movement task before the loss of location information.

[0080] For example, the mobile robot is an industrial logistics robot that needs to transfer goods between multiple shelves. Therefore, the location information of each delivery location is used as the second location information. The decoded first location information is used as the starting point of the first travel trajectory, and the second location information is used as the waypoints of the first travel trajectory. The mobile robot is then controlled to resume its movement task and complete the pickup and delivery process.

[0081] In this embodiment of the application, after the mobile robot decodes and obtains the first location information, it acquires the second location information traversed by the mobile task, plans the first driving trajectory corresponding to the mobile task based on the first location information and the second location information, and controls the mobile robot to move according to the first driving trajectory, thereby quickly resuming the execution of the mobile task.

[0082] In some embodiments, optionally, scanning a target identification code when the mobile robot loses its location information includes: controlling the mobile robot to travel to a first position when the mobile robot loses its location information; and scanning the target identification code when the mobile robot travels to the first position.

[0083] In this embodiment, since the mobile robot may be some distance from the target identification code when it loses its location information, it is necessary to first control the mobile robot to move to the first position where the target identification code is located before scanning it. After the mobile robot moves to the first position, it is controlled to scan the target identification code.

[0084] For example, a scanning device is installed on the mobile robot, and the installation position of the scanning device matches the deployment position of the target identification code, so that the mobile robot can scan the target identification code after moving to the first position. Specifically, for example, the installation height of the scanning device matches the deployment height of the target identification code. Another example is that the orientation of the scanning device is opposite to the orientation of the target identification code.

[0085] For example, by setting multiple identical target identification codes at a first location, a mobile robot can scan the target identification codes whenever it approaches the first location from any direction. Specifically, for example, the first location is an elevator lobby on a floor, and a target identification code is deployed on each wall of the elevator lobby.

[0086] In this embodiment, after the mobile robot loses its positioning information, it is controlled to move to the first location where the target identification code is located. When the mobile robot reaches the first location, it is controlled to scan the target identification code at the first location, thereby improving the scanning accuracy of the mobile robot.

[0087] In some embodiments, optionally, the mobile robot includes an image acquisition device. When the mobile robot loses its positioning information, controlling the mobile robot to travel to a first position includes: controlling the mobile robot to acquire environmental images through the image acquisition device; planning a second driving trajectory based on target image features in the environmental images, wherein the endpoint of the second driving trajectory is the first position; and controlling the mobile robot to travel to the first position according to the second driving trajectory; wherein the target image features include at least one of the following: image identifiers, text identifiers, and environmental objects.

[0088] In this embodiment, the mobile robot includes an image acquisition device that provides visual navigation capabilities to the mobile robot, enabling it to move to the first location where the target identification code is located.

[0089] Figure 2 shows a schematic diagram of the structure of a mobile robot provided in some embodiments of this application. As shown in Figure 2, the mobile robot 200 includes a body 202, an image acquisition device 204, and a walking mechanism 206. The image acquisition device 204 is disposed on the body 202. During the movement of the mobile robot 200 driven by the walking mechanism 206, the mobile robot 200 can acquire environmental images through the image acquisition device 204.

[0090] In this embodiment, the mobile robot's image acquisition device continuously acquires environmental images of the environment in which the mobile robot is located, extracts target image features from the environmental images through an image recognition algorithm, and provides navigation functionality for the mobile robot to move to a first position based on the extracted target image features.

[0091] It should be noted that the target image features may include one of the following: image labels or text labels pre-deployed in the mobile robot's movement space, or environmental objects placed in the robot's movement space.

[0092] For example, by placing a guide image marker at regular intervals within the moving space, with the endpoint of multiple guide image markers serving as the target identification code, the mobile robot can acquire environmental images including the guide image markers through an image acquisition device, and navigate to the target identification code based on these guide image markers.

[0093] For example, before the mobile robot begins formal operation, it is manually controlled to move towards the target identification code from various locations in space, and image information is collected during the movement. The image information includes multiple environmental objects encountered along the way. The image recognition model deployed in the mobile robot is trained based on the collected image information. In the event that the mobile robot loses its positioning information, it can navigate to the target identification code based on environmental objects in the environmental images.

[0094] In this embodiment, an image acquisition device is installed in the mobile robot. When the mobile robot loses its positioning information, the image acquisition device in the mobile robot is controlled to acquire environmental images. By identifying the target image features in the environmental images, the mobile robot is guided to the target identification code. This enables the mobile robot to automatically move to the first position of the target identification code through visual navigation capabilities when the positioning information is lost, thereby improving the efficiency and convenience of the mobile robot to resume its movement task.

[0095] In some embodiments, optionally, when the mobile robot loses its location information, controlling the mobile robot to travel to a first location includes:

[0096] Upon receiving navigation control information, the system responds by controlling the mobile robot to move to the first position.

[0097] In this embodiment, when the mobile robot loses its positioning information, it can receive externally transmitted navigation control information and navigate to the first position based on the navigation control information.

[0098] For example, the navigation control information can be information transmitted to the mobile robot by the staff through a remote control device, or information input by the staff directly to operate the mobile robot, that is, manually controlling the mobile robot to navigate to the first position where the target identification code is located.

[0099] For example, the mobile robot can also be manually pushed by staff to the first position where the target identification code is located.

[0100] In this embodiment, when the mobile robot loses its location information, the mobile robot can receive navigation control information and navigate to the first location of the target identification code based on the navigation control information, thereby further improving the accuracy of the mobile robot navigating to the location of the target identification code.

[0101] Optionally, in some embodiments, upon receiving navigation control information, before controlling the mobile robot to move to the first position in response to the navigation control information, the method further includes:

[0102] An alarm message is sent to the base station, so that the base station responds to the alarm message and sends navigation control information back to the mobile robot.

[0103] In this embodiment, when the mobile robot loses its location information, it transmits an alarm message to the base station to alert the base station that the mobile robot is currently in a fault state of lost location information. This allows the base station staff to transmit navigation control information to the mobile robot through communication between the base station and the mobile robot, enabling the base station staff to promptly understand the lost location information status of the mobile robot and avoid congestion caused by the mobile robot being in a state of lost location information for an extended period of time.

[0104] In some embodiments, the target identification code may optionally include at least one of the following: a QR code or a one-dimensional barcode.

[0105] In this embodiment of the application, by storing the first location information in a QR code and / or a barcode, the mobile robot can easily obtain the first location information by scanning the code. Furthermore, the method of storing the first location information in a QR code and / or a barcode is relatively convenient, which further reduces deployment costs and improves deployment convenience.

[0106] Figure 3 shows a second schematic flowchart of a mobile robot control method provided in some embodiments of this application. As shown in Figure 3, the mobile robot control method includes:

[0107] Step 302: Scan the target identification code when the mobile robot is performing a driving task and has lost its positioning information;

[0108] Step 304: Decode the target identification code;

[0109] Step 306: Determine whether decoding was successful. If the result is yes, proceed to step 308; otherwise, return to step 304.

[0110] Step 308: Send the first location information to the positioning module for positioning;

[0111] Step 310: The positioning module initializes and repositions itself based on the first location information and continues to perform the driving task.

[0112] In this embodiment, the target identification code is a QR code. The QR code is encoded to store all floor information of the current building and the first location information of the code's deployment. Each first location information is stored in each QR code. The QR code storing the first location information is pasted in a suitable location in the elevator lobby, allowing the robot to quickly scan it in case of an anomaly. When the mobile robot loses its positioning information, it stops all movement tasks, and maintenance personnel intervene to scan nearby QR codes. The mobile robot then calls the decoding algorithm interface to decode the QR code. If decoding is successful, the robot sends the code's location information to its internal positioning module. Upon receiving the information, the positioning module resets and initializes its positioning based on the currently acquired information. Thus, the robot's positioning is quickly restored. The entire encoding and decoding process is highly accurate. Once the robot recovers, it will continue to complete any unfinished movement tasks.

[0113] According to one embodiment of this application, FIG4 shows a structural block diagram of one of the embodiments of this application of a control device for a mobile robot. As shown in FIG4, a control device 400 for a mobile robot is proposed, comprising:

[0114] The scanning module 402 is used to scan the target identification code when the mobile robot loses its positioning information, wherein the target identification code is located in the first position;

[0115] The determining module 404 is used to determine the first position information of the first position based on the target identification code;

[0116] The control module 406 is used to control the movement of the mobile robot based on the first position information.

[0117] In this embodiment, after a mobile robot loses its positioning information during operation, it can move to a first location to scan a code to obtain the first location information and continue its movement based on that information. During deployment, only the target identification code needs to be deployed at the designated first location, resulting in low deployment and maintenance costs. Furthermore, the first location information obtained by the mobile robot through code scanning and decoding is pre-stored accurate location information, making the recovered positioning information more accurate. This solves the technical problems of low positioning accuracy and high deployment costs in related technologies.

[0118] In some embodiments, the control device 400 of the mobile robot optionally includes:

[0119] The decoding module is used to decode the target identification code;

[0120] The determination module 404 is used to determine the decoded information as the first position information if the decoding is successful;

[0121] The execution module is used to return to the step of decoding the target identification code if decoding fails.

[0122] In this embodiment, after the mobile robot completes scanning the target identification code, it decodes the target identification code. If the decoding is successful, the decoded information is determined as the first location information. If the decoding fails, the robot continues to decode in place to avoid the mobile robot moving and interfering with other devices or personnel when it loses its location information.

[0123] In some embodiments, the control device 400 of the mobile robot optionally includes:

[0124] The acquisition module is used to acquire the second location information, which is the location information along the path of the mobile robot's mobile task.

[0125] The planning module is used to plan the first driving trajectory based on the second location information and the first location information;

[0126] The control module 406 is used to control the mobile robot to move according to the first driving trajectory.

[0127] In this embodiment of the application, after the mobile robot decodes and obtains the first location information, it acquires the second location information traversed by the mobile task, plans the first driving trajectory corresponding to the mobile task based on the first location information and the second location information, and controls the mobile robot to move according to the first driving trajectory, thereby quickly resuming the execution of the mobile task.

[0128] In some embodiments, the control module 406 is configured to control the mobile robot to travel to a first position when the mobile robot loses its positioning information;

[0129] The barcode scanning module 402 is used to scan the target identification code when the mobile robot moves to the first position.

[0130] In this embodiment, after the mobile robot loses its positioning information, it is controlled to move to the first location where the target identification code is located. When the mobile robot reaches the first location, it is controlled to scan the target identification code at the first location, thereby improving the scanning accuracy of the mobile robot.

[0131] In some embodiments, the mobile robot may optionally include an image acquisition device and a control module 406 for controlling the mobile robot to acquire environmental images through the image acquisition device.

[0132] The planning module is used to plan a second driving trajectory based on the target image features in the environmental image, wherein the endpoint of the second driving trajectory is the first position;

[0133] The control module 406 is used to control the mobile robot to travel to the first position according to the second travel trajectory; wherein the target image features include at least one of the following: image identifier, text identifier, and environmental object.

[0134] In this embodiment, an image acquisition device is installed in the mobile robot. When the mobile robot loses its positioning information, the image acquisition device in the mobile robot is controlled to acquire environmental images. By identifying the target image features in the environmental images, the mobile robot is guided to the target identification code. This enables the mobile robot to automatically move to the first position of the target identification code through visual navigation capabilities when the positioning information is lost, thereby improving the efficiency and convenience of the mobile robot to resume its movement task.

[0135] In some embodiments, optionally, the control module 406 is configured to, upon receiving navigation control information, control the mobile robot to travel to a first position in response to the navigation control information.

[0136] In this embodiment, when the mobile robot loses its location information, the mobile robot can receive navigation control information and navigate to the first location of the target identification code based on the navigation control information, thereby further improving the accuracy of the mobile robot navigating to the location of the target identification code.

[0137] In some embodiments, the control device 400 of the mobile robot optionally includes:

[0138] The sending module is used to send alarm information to the base station, so that the base station responds to the alarm information and sends navigation control information back to the mobile robot.

[0139] In this embodiment, when the mobile robot loses its location information, it transmits an alarm message to the base station to alert the base station that the mobile robot is currently in a fault state of lost location information. This allows the base station staff to transmit navigation control information to the mobile robot through communication between the base station and the mobile robot, enabling the base station staff to promptly understand the lost location information status of the mobile robot and avoid congestion caused by the mobile robot being in a state of lost location information for an extended period of time.

[0140] In some embodiments, the target identification code may optionally include at least one of the following: a QR code or a one-dimensional barcode.

[0141] In this embodiment of the application, by storing the first location information in a QR code and / or a barcode, the mobile robot can easily obtain the first location information by scanning the code. Furthermore, the method of storing the first location information in a QR code and / or a barcode is relatively convenient, which further reduces deployment costs and improves deployment convenience.

[0142] According to one embodiment of this application, FIG5 shows a second structural block diagram of a mobile robot control device provided in some embodiments of this application. As shown in FIG5, the mobile robot control device 500 includes a processor 502 and a memory 504. The memory 504 stores a program or instructions, which, when executed by the processor 502, implement the steps of the mobile robot control method as described in any of the above embodiments. Therefore, the mobile robot control device 500 possesses all the beneficial effects of the mobile robot control method in any of the above embodiments, which will not be elaborated further here.

[0143] According to one embodiment of this application, optionally, a readable storage medium is provided, on which a program or instructions are stored, which, when executed by a processor, implement the steps of the mobile robot control method as described in any of the above embodiments, and thus have all the beneficial technical effects of the mobile robot control method described in any of the above embodiments.

[0144] Among them, readable storage media include read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0145] A computer-readable storage medium can be a tangible device that holds and stores instructions for use by an instruction execution device. A computer-readable storage medium can be an electronic storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing, but is not limited thereto. A non-exhaustive list of more specific examples of computer-readable storage media includes: portable computer floppy disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable and programmable read-only memory (EPROM or flash memory), static random access memory (SRAM), portable optical disc read-only memory (CD-ROM), digital universal disk (DVD), memory cards, floppy disks, encoding mechanical devices (e.g., punched cards or grooves with raised structures for recording instructions), and any suitable combination of the foregoing. The computer-readable storage medium used herein should not be construed as the transmission of signals themselves, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media, or electrical signals transmitted through wires.

[0146] Figure 6 shows a structural block diagram of a mobile robot provided in some embodiments of this application. As shown in Figure 6, according to one embodiment of this application, a mobile robot 600 is optionally provided, including: a control device 400 of the mobile robot as in any of the above embodiments, and / or a readable storage medium 602 as in any of the above embodiments, thus having all the beneficial technical effects of the control device 400 of the mobile robot in any of the above embodiments, and / or the readable storage medium 602 in any of the above embodiments, which will not be elaborated further here.

[0147] As shown in Figure 2, the mobile robot 200 includes a body 202, an image acquisition device 204, and a walking mechanism 206. The image acquisition device 204 is mounted on the body 202. During the movement of the mobile robot 200 driven by the walking mechanism 206, the mobile robot 200 can acquire environmental images through the image acquisition device 204.

[0148] It should be clarified that in the claims, description, and accompanying drawings of this application, the term "multiple" refers to two or more objects. Unless otherwise explicitly defined, the terms "upper," "lower," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description process, not to indicate or imply that the device or element referred to must have the described specific orientation, or be constructed and operated in a specific orientation. Therefore, these descriptions should not be construed as limitations on this application. The terms "connection," "installation," "fixing," etc., should be interpreted broadly. For example, "connection" can be a fixed connection between multiple objects, a detachable connection between multiple objects, or an integral connection; it can be a direct connection between multiple objects or an indirect connection between multiple objects through an intermediate medium. For those skilled in the art, the specific meaning of the above terms in this application can be understood based on the specific circumstances of the above data.

[0149] In the claims, description, and accompanying drawings of this application, the terms "one embodiment," "some embodiments," "specific embodiment," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of this application. In the claims, description, and accompanying drawings of this application, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0150] The above are merely preferred embodiments of this application and are not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A control method for a mobile robot, characterized in that, include: In the event that the mobile robot has lost its location information, a target identification code is scanned, wherein the target identification code is located at a first position; The first location information of the first location is determined based on the target identification code; the mobile robot is controlled to move based on the first location information.

2. The control method for a mobile robot according to claim 1, characterized in that, The step of determining the first location information of the first location based on the target identification code includes: decoding the target identification code; if decoding is successful, determining the decoded information as the first location information; if decoding fails, returning to the step of decoding the target identification code.

3. The control method for a mobile robot according to claim 1, characterized in that, The step of controlling the mobile robot to move according to the first location information includes: obtaining second location information, the second location information being the location information along the path of the mobile task performed by the mobile robot; planning a first driving trajectory according to the second location information and the first location information; and controlling the mobile robot to move according to the first driving trajectory.

4. The control method for a mobile robot according to any one of claims 1 to 3, characterized in that, The step of scanning the target identification code when the mobile robot loses its location information includes: controlling the mobile robot to travel to the first location when the mobile robot loses its location information; and scanning the target identification code when the mobile robot travels to the first location.

5. The control method for a mobile robot according to claim 4, characterized in that, The mobile robot includes an image acquisition device. The step of controlling the mobile robot to travel to the first position when the mobile robot loses its positioning information includes: controlling the mobile robot to acquire environmental images through the image acquisition device; planning a second travel trajectory based on target image features in the environmental images, wherein the endpoint of the second travel trajectory is the first position; and controlling the mobile robot to travel to the first position according to the second travel trajectory; wherein the target image features include at least one of the following: image identifiers, text identifiers, and environmental objects.

6. The control method for a mobile robot according to claim 4, characterized in that, The step of controlling the mobile robot to travel to the first position when the mobile robot loses its positioning information includes: upon receiving navigation control information, controlling the mobile robot to travel to the first position in response to the navigation control information.

7. The control method for a mobile robot according to claim 6, characterized in that, Before controlling the mobile robot to travel to the first position in response to receiving navigation control information, the method further includes: sending alarm information to a base station so that the base station responds to the alarm information and sends the navigation control information back to the mobile robot.

8. The control method for a mobile robot according to any one of claims 1 to 3, characterized in that, The target identification code includes at least one of the following: a QR code or a one-dimensional code.

9. A control device for a mobile robot, characterized in that, The control device for the mobile robot includes: a scanning module for scanning a target identification code when the mobile robot loses its positioning information, wherein the target identification code is located at a first position; a determining module for determining first position information of the first position based on the target identification code; and a control module for controlling the mobile robot to move based on the first position information.

10. A control device for a mobile robot, characterized in that, include: processor; A memory storing programs or instructions, wherein the processor, when executing the programs or instructions in the memory, implements the steps of the control method for a mobile robot as described in any one of claims 1 to 8.

11. A readable storage medium, characterized in that, The readable storage medium stores a program or instructions that, when executed by a processor, implement the steps of the control method for the mobile robot as described in any one of claims 1 to 8.

12. A mobile robot, characterized in that, include: The control device for a mobile robot as described in claim 9 or 10; and / or the readable storage medium as described in claim 11.

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